WO2019218487A1 - 用于扫地机器人的水箱组件及扫地机器人 - Google Patents
用于扫地机器人的水箱组件及扫地机器人 Download PDFInfo
- Publication number
- WO2019218487A1 WO2019218487A1 PCT/CN2018/098019 CN2018098019W WO2019218487A1 WO 2019218487 A1 WO2019218487 A1 WO 2019218487A1 CN 2018098019 W CN2018098019 W CN 2018098019W WO 2019218487 A1 WO2019218487 A1 WO 2019218487A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- water tank
- support
- driving wheels
- cleaning robot
- support portion
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- the present application relates to a water tank assembly and a sweeping robot for a sweeping robot.
- the current solution is mostly to increase the weight of iron blocks and so on, in order to adjust the position of the center of gravity of the sweeping robot.
- the method of adjusting the center of gravity of the sweeping robot by adding a weight block has the following disadvantages: increasing the weight of the whole machine, thereby indirectly affecting the usability of the whole machine, such as increasing power consumption, reducing battery life, and increasing the cost of the whole machine. Reduce the assembly efficiency of the product; in the sweeping robot with the water tank, the amount of water in the water tank will cause the position of the center of gravity of the whole machine to move, and the sweeping robot will be unbalanced.
- a water tank assembly for a cleaning robot includes a main body, two driving wheels and a universal wheel, and the driving wheels are respectively disposed at a central portion of the main body.
- the water tank assembly includes a water tank and a support portion protruding from a bottom of the water tank, the universal wheel and the water tank assembly being disposed on the main body, respectively located at a center of the two driving wheels Two sides of the line; when the sweeping robot is in a horizontal ground, the universal wheel and the two driving wheels contact the ground, the supporting portion is a preset value from the ground; when the sweeping robot is facing the water tank When one side of the assembly is tilted, the support portion contacts the ground to support the cleaning robot.
- the support portion is located on a symmetrical center line of the bottom of the water tank, and the support portion includes a support seat disposed at a bottom of the water tank and a support roller mounted on the support base.
- the support roller has a curved cylindrical structure with a circular arc surface transition at both ends.
- the support portion is located on a symmetrical center line of the bottom of the water tank, and the support portion is a spherical boss.
- a cleaning robot in another aspect of the present application, includes a main body, two driving wheels and a universal wheel, and the driving wheels are respectively disposed on two sides of the central portion of the main body, wherein
- the sweeping robot further includes a support portion, the universal wheel and the support portion are disposed on the main body, respectively located on two sides of a center line of the two driving wheels; when the sweeping robot is in a horizontal ground When the universal wheel and the two driving wheels contact the ground, the supporting portion is a preset value from the ground; when the cleaning robot is inclined toward one side of the supporting portion, the supporting portion contacts the ground To support the sweeping robot.
- the two driving wheels are symmetrically disposed on two sides of the main body, and the universal wheel and the supporting portion are located on a center line of the center line of the two driving wheels, and the supporting portion includes a setting a support base at the bottom of the main body and a support roller mounted on the support base.
- the support roller is disposed on a mid-perpendicular line connecting the center lines of the two drive wheels.
- the support roller has a curved cylindrical structure with a circular arc surface transition at both ends.
- the two driving wheels are symmetrically disposed on two sides of the main body, and the universal wheel and the supporting portion are located on a center line of the center line of the two driving wheels, and the supporting portion is a spherical surface. Boss.
- the preset value ranges from 0 to 5 mm.
- the preset value is 1 mm.
- the main body includes a base and a water tank detachably mounted on the base, the universal wheel is disposed on the base, and the support portion is disposed on the water tank.
- the water tank assembly for the sweeping robot of the present application adopts a support portion provided at the bottom of the protruding water tank.
- the support portion contacts the ground to support the sweeping robot, thereby solving the water volume change caused by the water tank.
- the sweeping robot of the present application uses the support portion provided at the bottom of the main body.
- the support portion contacts the ground to support the sweeping robot, and the sweeping robot is solved due to the internal structure. Cloth caused by the imbalance of the center of gravity.
- the present application not only reduces the production cost of the cleaning robot but also reduces the weight of the cleaning robot, compared with the conventional method of adjusting the center of gravity imbalance of the cleaning robot by adding a weight.
- FIG. 1 is a perspective view of a water tank assembly for a cleaning robot according to the present application
- Figure 2 is a perspective view of the water tank assembly and the cleaning robot according to the present application before assembly;
- Figure 3 is a perspective view of the water tank assembly and the cleaning robot according to the present application.
- Figure 4 is a side elevational view of the sweeping robot placed on a level ground according to the present application
- Figure 5 is a partial enlarged view of the portion A in Figure 4.
- Figure 6 is a top plan view of a sweeping robot in accordance with the present application.
- a water tank assembly 2 for a cleaning robot 1 is proposed.
- the cleaning robot 1 includes a main body 11, two driving wheels 12 and a universal wheel 13, two driving wheels. 12 are respectively disposed on both sides of the central portion of the main body 11;
- the water tank assembly 2 includes a water tank 21 and a support portion 22 protruding from the bottom of the water tank 21, and the universal wheel 13 and the water tank assembly 2 are disposed on the main machine 11, respectively located on the two driving wheels
- the support portion 22 is at a predetermined value from the ground; when the cleaning robot 1 is facing the water tank assembly 2 When one side is inclined, the support portion 22 contacts the ground to support the cleaning robot 1.
- the central portion of the host 11 may be the center portion of the host 11 or a portion that is offset from the center portion by a predetermined value.
- the predetermined value may be according to the arrangement of the bottom structure of the host 11 and the initial center of gravity of the whole machine. The design of the location and other factors are not mentioned here.
- the cleaning robot 1 has a flat circular structure, but is not limited thereto, and the two driving wheels 12 are mounted on a diameter or a string perpendicular to the advancing direction of the cleaning robot 1.
- the support portion 22 is located on a symmetrical center line at the bottom of the water tank 21, and the support portion 22 includes a support base 221 provided at the bottom of the water tank 21 and a support roller 222 mounted on the support base 221.
- the support base 221 includes two connecting plates 223 which are symmetrically arranged with respect to the symmetrical center line of the bottom of the water tank 21, have the same shape and are spaced apart from each other.
- One end of each of the connecting plates 223 is detachably connected or fixedly coupled to the bottom of the water tank 21, and the other end supports a support shaft 224 sandwiched between the two connecting plates 223.
- the support shaft 224 is perpendicular to the symmetrical centerline of the bottom of the water tank 21, that is, parallel to the center line of the two drive wheels 12.
- the support roller 222 has a curved cylindrical structure in which both ends are circular arc surfaces.
- the arcuate cylindrical structure means that the cylindrical surface of the main body of the support roller 222 is a circular arc transition between the two end faces.
- the support roller 222 is disposed in a curved cylindrical structure, so that the friction between the support roller 222 and the ground is reduced during the rolling process, and the flexibility of the support roller 222 is improved.
- the support roller 222 includes an axial through hole to receive the support shaft 224, whereby the support roller 222 rotates about the support shaft 224.
- the support roller 222 may be made of any material, preferably made of plastic, to reduce the weight of the cleaning robot 1.
- the support portion 22 can be a spherical boss.
- the spherical boss means that the support portion 22 is a spherical surface that is provided on the bottom surface of the water tank 21 to reduce possible friction.
- the spherical boss can be made of plastic to reduce the weight of the cleaning robot 1.
- the support portion 22 is a predetermined value h from the ground.
- the preset value h ranges from 0 to 5 mm. If the preset value h is too large, the support portion 22 does not function well; if the preset value h is too small, the support portion 22 may frequently contact the ground, which affects the flexibility of the sweeping robot to drive normally.
- the preset value h is 1 mm.
- a cleaning robot 1 is proposed.
- the cleaning robot 1 necessarily includes the water tank 21, and in other implementations, the cleaning robot 1 may have no water tank 21, and the support portion 22 may be It is provided on the base 111 of the main body 11.
- the cleaning robot 1 includes a main body 11, two driving wheels 12 and a universal wheel 13, respectively, which are respectively disposed at two sides of a central portion of the main body 11.
- the cleaning robot 1 further includes a supporting portion 22, 10,000
- the wheel 13 and the support portion 22 are disposed on the main body 11 respectively on both sides of the center line of the two driving wheels 12; when the cleaning robot 1 is in the horizontal ground, the universal wheel 13 and the two driving wheels 12 are in contact with the ground, and the supporting portion 22 is a preset value from the ground; when the cleaning robot 1 is inclined toward one side of the support portion 22, the support portion 22 contacts the ground to support the cleaning robot 1.
- the central portion of the host 11 may be the center portion of the host 11 or a portion that is offset from the center portion by a predetermined value.
- the predetermined value may be according to the arrangement of the bottom structure of the host 11 and the initial center of gravity of the whole machine. The design of the location and other factors are not mentioned here.
- the cleaning robot 1 has a flat circular structure, but is not limited thereto, and the two driving wheels 12 are mounted on a diameter or a string perpendicular to the advancing direction of the cleaning robot 1.
- the two driving wheels 12 are symmetrically disposed on both sides of the main body 11, and the universal wheel 13 and the supporting portion 22 are located on the center line of the center line of the two driving wheels 12, respectively located on the two driving wheels.
- the center of the 12 is connected to both sides.
- the support portion 22 includes a support base 221 provided at the bottom of the main body 11 and a support roller 222 mounted on the support base 221.
- the support base 221 includes two connecting plates 223 which are symmetrically arranged with respect to the central portion of the main body 11, are identical in shape, and are spaced apart from each other.
- each of the connecting plates 223 is detachably connected or fixedly coupled to the bottom of the main body 11, and the other end supports a support shaft 224 sandwiched between the two connecting plates 223.
- the support shaft 224 is parallel to the center line of the two drive wheels 12, i.e., perpendicular to the center line of the center line of the two drive wheels 12.
- the support roller 222 has a curved cylindrical structure with a circular arc surface transition at both ends.
- the arcuate cylindrical structure means that the cylindrical surface of the main body of the support roller 222 is a circular arc transition between the two end faces.
- the support roller 222 is disposed in a curved cylindrical structure, so that the friction between the support roller 222 and the ground is reduced during the rolling process, and the flexibility of the support roller 222 is improved.
- the support roller 222 includes an axial through hole to receive the support shaft 224, whereby the support roller 222 rotates about the support shaft 224.
- the support roller 222 may be made of any material, preferably made of plastic, to reduce the weight of the cleaning robot 1.
- the support portion 22 can be a spherical boss.
- the spherical boss means that the support portion 22 is a spherical structure that protrudes from the bottom surface of the main body 11 to reduce friction.
- the spherical boss can be made of plastic to reduce the weight of the cleaning robot 1.
- the support portion 22 is a predetermined value h from the ground.
- the preset value h ranges from 0 to 5 mm. If the preset value h is too large, the support portion 22 does not function well; if the preset value h is too small, the support portion 22 may frequently contact the ground, which affects the flexibility of the sweeping robot to drive normally.
- the preset value h is 1 mm.
- the main body 11 includes a base 111 and a water tank 21 detachably mounted on the base 111.
- the universal wheel 13 is disposed on the base 111, and the support portion 22 is disposed on the water tank 21.
- the support portion 22 instead of the conventional weight, when the cleaning robot 1 is placed on the horizontal ground, the two driving wheels 12 and the universal wheel 13 form a three-point support with the ground, and the support portion 22 does not contact the ground ( As shown in Figure 4 to Figure 5).
- the support portion 22 contacts the ground to serve as a supporting action for the cleaning robot 1 to operate normally.
- the support portion 22 may not touch the ground, or if the support portion 22 contacts the ground, the turning action of the cleaning robot 1 is not affected by the transitional guidance of the curved surface or the spherical surface of the support portion 22. . Therefore, the balance of the cleaning robot 1 is better maintained.
- the problem of unbalanced center of gravity of the cleaning robot 1 is solved by using the support portion 22 provided by the projection.
- the use of the support portion 22 not only reduces the production cost of the cleaning robot 1 but also reduces the weight of the cleaning robot 1 as compared with the conventional method of adjusting the center of gravity imbalance of the cleaning robot by adding a weight.
- the support portion 22 does not reduce the flexibility of the cleaning robot 1, and conversely, since the support portion 22 itself can roll or slide, the flexibility of the cleaning robot 1 is increased.
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- Electric Suction Cleaners (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
Claims (11)
- 一种用于扫地机器人的水箱组件,所述扫地机器人包括主机、两驱动轮和一万向轮,两所述驱动轮分别设置在所述主机中心部位的两侧,其特征在于:所述水箱组件包括水箱和凸出设置在所述水箱底部的支撑部,所述万向轮和所述水箱组件设置在所述主机上,分别位于两所述驱动轮的中心连线的两侧;当所述扫地机器人处于水平地面时,所述万向轮和两所述驱动轮接触地面,所述支撑部距离地面一预设值;当所述扫地机器人朝着所述水箱组件的一侧倾斜时,所述支撑部接触地面以支撑所述扫地机器人。
- 根据权利要求1所述的水箱组件,其特征在于,所述支撑部位于所述水箱底部的对称中心线上,所述支撑部包括设置在所述水箱底部的支撑座和安装在所述支撑座上的支撑滚轮。
- 根据权利要求2所述的水箱组件,其特征在于,所述支撑滚轮呈两端为圆弧面过渡的弧面圆柱结构。
- 根据权利要求1所述的水箱组件,其特征在于,所述支撑部位于所述水箱底部的对称中心线上,所述支撑部为球面凸台。
- 一种扫地机器人,包括主机、两驱动轮和一万向轮,两所述驱动轮分别设置在所述主机中心部位的两侧,其特征在于,所述扫地机器人还包括支撑部,所述万向轮和所述支撑部设置在所述主机上,分别位于两所述驱动轮的中心连线的两侧;当所述扫地机器人处于水平地面时,所述万向轮和两所述驱动轮接触地面,所述支撑部距离地面一预设值;当所述扫地机器人朝着所述支撑部的一侧倾斜时,所述支撑部接触地面以支撑所述扫地机器人。
- 根据权利要求5所述的扫地机器人,其特征在于,两所述驱动轮对称设置在所述主机的两侧,所述万向轮和所述支撑部位于两所述驱动轮的中心连线的中垂线上,所述支撑部包括设置在所述主机底部的支撑座和安装在所述支撑座上的支撑滚轮。
- 根据权利要求6所述的扫地机器人,其特征在于,所述支撑滚轮呈两端为圆弧面过渡的弧面圆柱结构。
- 根据权利要求5所述的扫地机器人,其特征在于,两所述驱动轮对称设置在所述主机的两侧,所述万向轮和所述支撑部位于两所述驱动轮的中心连线的中垂线上,所述支撑部为球面凸台。
- 根据权利要求5所述的扫地机器人,其特征在于,所述预设值的取值范围为0~5mm。
- 根据权利要求9所述的扫地机器人,其特征在于,所述预设值为1mm。
- 根据权利要求5至10中任意一项所述的扫地机器人,其特征在于,所述主机包括底座和可拆卸地安装在所述底座上的水箱,所述万向轮设置在所述底座上,所述支撑部设置在所述水箱上。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020207033101A KR102411552B1 (ko) | 2018-05-18 | 2018-08-01 | 로봇 청소기용 물 탱크 조립체 및 로봇 청소기 |
JP2020564756A JP7076578B2 (ja) | 2018-05-18 | 2018-08-01 | ロボット掃除機用の水槽アセンブリ及びロボット掃除機 |
EP18919020.0A EP3777633B1 (en) | 2018-05-18 | 2018-08-01 | Water tank assembly for robot cleaner, and robot cleaner |
US16/121,665 US10905303B2 (en) | 2018-05-18 | 2018-09-05 | Water tank assembly for robot vacuum cleaner and robot vacuum cleaner |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201820746944.7 | 2018-05-18 | ||
CN201820746944.7U CN208851402U (zh) | 2018-05-18 | 2018-05-18 | 用于扫地机器人的水箱组件及扫地机器人 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/121,665 Continuation US10905303B2 (en) | 2018-05-18 | 2018-09-05 | Water tank assembly for robot vacuum cleaner and robot vacuum cleaner |
Publications (1)
Publication Number | Publication Date |
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WO2019218487A1 true WO2019218487A1 (zh) | 2019-11-21 |
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ID=66411202
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Application Number | Title | Priority Date | Filing Date |
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PCT/CN2018/098019 WO2019218487A1 (zh) | 2018-05-18 | 2018-08-01 | 用于扫地机器人的水箱组件及扫地机器人 |
Country Status (5)
Country | Link |
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EP (1) | EP3777633B1 (zh) |
JP (1) | JP7076578B2 (zh) |
KR (1) | KR102411552B1 (zh) |
CN (1) | CN208851402U (zh) |
WO (1) | WO2019218487A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113243827A (zh) * | 2020-06-29 | 2021-08-13 | 尚科宁家(中国)科技有限公司 | 一种吸拖一体清洁机器人 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN210931172U (zh) * | 2019-06-17 | 2020-07-07 | 江苏美的清洁电器股份有限公司 | 自移动清洁装置 |
CN110960152A (zh) * | 2019-10-11 | 2020-04-07 | 苏州柯姆电器有限公司 | 一种擦地机主机结构 |
CN114408044A (zh) * | 2022-03-04 | 2022-04-29 | 珠海市一微机器人技术有限公司 | 一种机器人运动底盘以及机器人 |
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KR100661339B1 (ko) * | 2005-02-24 | 2006-12-27 | 삼성광주전자 주식회사 | 로봇 청소기 |
KR100831784B1 (ko) * | 2007-03-02 | 2008-05-28 | 엘지전자 주식회사 | 진공 청소기 |
KR101397056B1 (ko) * | 2012-09-17 | 2014-05-20 | 엘지전자 주식회사 | 로봇 청소기 시스템 및 그 제어방법 |
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2018
- 2018-05-18 CN CN201820746944.7U patent/CN208851402U/zh active Active
- 2018-08-01 KR KR1020207033101A patent/KR102411552B1/ko active IP Right Grant
- 2018-08-01 JP JP2020564756A patent/JP7076578B2/ja active Active
- 2018-08-01 WO PCT/CN2018/098019 patent/WO2019218487A1/zh unknown
- 2018-08-01 EP EP18919020.0A patent/EP3777633B1/en active Active
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CN203677401U (zh) * | 2013-12-20 | 2014-07-02 | 罗晓君 | 一种电动轮椅 |
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CN106793899A (zh) * | 2015-03-09 | 2017-05-31 | 夏普株式会社 | 自走式电子设备 |
CN206285061U (zh) * | 2016-08-23 | 2017-06-30 | 宁波克林斯曼智能科技有限公司 | 一种扫地机器人水箱安装装置 |
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CN113243827A (zh) * | 2020-06-29 | 2021-08-13 | 尚科宁家(中国)科技有限公司 | 一种吸拖一体清洁机器人 |
Also Published As
Publication number | Publication date |
---|---|
JP7076578B2 (ja) | 2022-05-27 |
EP3777633A1 (en) | 2021-02-17 |
KR20200142073A (ko) | 2020-12-21 |
CN208851402U (zh) | 2019-05-14 |
KR102411552B1 (ko) | 2022-06-22 |
EP3777633A4 (en) | 2021-06-09 |
JP2021524778A (ja) | 2021-09-16 |
EP3777633B1 (en) | 2022-05-04 |
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